Journal "Gyroscopy and Navigation" /  Books  
   "Gyroscopy and Navigation" №1 (52), 2006


V.Z.Gusinsky, Yu.A.Litmanovich, A.A.Stolbov Self-contained calibration of misalignment angles between the ESG rotor and the axis of its case rotation 3
Some problems of the calibration for gimbaled Inertial Navigation system (INS) based on two uncontrollable gyros is considered. The autonomous calibration algorithm of the inertial measuring unit error models parameters, namely, the angles aX, aZ between the axes of gyro's angle sensor and the case, is examined. The measurement signal for the calibration is formed as the difference of cosines of the angle between the gyro momentums expressed via body fixed and inertial components. The measurement errors for angle rotor position are described by equation (3). The relationship between the angles aX, aZ and the measurement signal is described by equation (4). The calibration algorithm is described by equations (7), (9)-(11). The effectiveness of calibration procedure is tested by the experimental study. The tests results are presented in Fig.2-5. It is shown, that usage of autonomous measurement provides the accuracy of calibration of the angles aX, aZ are equal to 2-3 unites.
Jose Beitia, Alain Gross, Gilles Grosset New Generation of Inertial Clusters for Standby Instruments Based on Vibrating Sensors 12
The robustness, reliability and low-cost of the Quapason present great advantages for a new type of application: Integrated Standby Instruments used in military and commercial air-crafts. This paper deals with the specific requirements of these instruments and demonstrates the suitability of the Quapason for these applications where cheap sensors with good performance are essential.
S.P.Dmitriev, A.I.Sokolov Estimation of Frequency Shift in Doppler Speedometer by Identification of Received Signal Model 21
A new approach is proposed for definition of Doppler frequency shift in speed meeting systems. It is based on fractionally rational approximation of reflected signal spectrum and parameter identification for state vector dynamics model corresponding to the approximation spectrum.
Simulation revealed high efficiency of the proposed approach - response speed and low sensitivity to the model of narrowband random process.
I.V.Popova, A.M.Lestev, Yu.S.Lukovaty, A.A.Semenov, S.V.Zyuzin, E.N.Pyatyshev, A.A.Shabrov Micro-mechanical Sensors and Systems. Practical Results and Aspects of Development 29
Results of recent developments and tests of micromechanical gyros and accelerometers, inertial units and inertial navigation and aligning systems are represented. Designs, specification and test results, tendencies of evolution are discussed.
V.V.Shekshnya, R.A.Belov, I.V.Borovik, O.A.Drozdov, L.A.Dudko, E.N.Pashchenko Inclinometers and Hole Devices. Experience of Creation and Operation 35
The information about inclinometers and a hole devices is submitted. The devices consists of a float gyro, dynamically tuned gyroscopes and accelerometers were developed in the Kuznetsov RIAM. Schemes gyroscopic inclinometers and results of measurements by gyroscopic and magnetic inclinometers in magnetic environment are submitted
V.B.Nikishin, A.V.Melnikov, P.K.Plotnikov, Yu.V.Chebotarevsky, A.A.Bolshakov, V.Yu.Chebotarevsky On Development of Wide Band Integrated Gyroinclinometer 40
Variants of construction of algorithms of functioning wideranged integrated strapdown gyroinclinometer (WI SGI) are considered. Thus as algorithms of orientation are used switched Euler's corrected kinematic equations and corrected quaternion's kinematic equations. The effective way for correction of the estimations of coordinates of a hole's trajectory is described. On the basis of the analysis of modelling results of WI SGI movement in a hole of complex structure it is compared the accuracy of algorithms of functioning. Results of experimental checking of algorithms are given.
Ya.I.Binder, O.L.Mumin A Small-Size Gyroscopic Inclinometer System 52
New technologies applied in development of the above-mentioned inclinometric system are considered. The development and tests results are shown to confirm the correct selection of design methods and form a basis for further development and production of a series of small-sized gyroinclinometric systems.
V.V.Abol, A.A.Bermishev, P.G.Itin, V.L.Lapshin Mobile Diagnostic Laboratory for Testing of User's GPS/GLONASS Receivers 59
The article is focused on the complex of hardware and software, created for high accuracy diagnostics of the combined navigational system of mobile user - vehicle. The combined navigational system of vehicle may consist of a set of navigational receivers working on the signals of space navigational systems GLONASS and GPS and of a set of impulse sensors and odometers. Automobiles of different communal and special facilities, which may have a problem of timely determination of location of these automobiles in town, can be equipped with this navigational system.
S.N.Rumyantsev, D.A.Skorohodov Using Disturbance Feedback at Development of High-Speed Vessel Controller 67
The paper introduces a simple method of designing control algorithms for mechanical structures of specific type, in which the state derivatives are used in feedback loops as accelerometer signals, and the overall controller explicitly exhibits an algebraic disturbance feedback loop. A simplified hydrofoil craft linear model is treated as a working example. The method proposed combines all the approaches based on the use of the simplified model and shows the purpose of acceleration feedback with respect to the hierarchy of control loops. Traditional engineering approaches are outlined, and some misconceptions are discussed.

Brief note

V.V.Vasiliev, V.N.Narver, V.D.Prikhodko, O.A.Sokolov Check of heading error in submarine navigation system during the mooring tests 81
Technique for a submarine true course determination with the use of remote check element is considered. Before the submarine launch the remote check element is installed on the pressure hull upper deck and geometrically connected with the diametral plane specified by the markers in the inboard premises. When checking the course at the mooring trial, theodolite on the submarine is aligned with the diametral plane specified by the remote check element. This minimizes the truncation error produced by the uncontrolled turn of the markers diametral planes at the submarine launch.

International Public Association
The Academy of Navigation and Motion Control
Official information

G.V.Antsev, V.L.Andreev, A.D.Barabanov, R.V.Ivanov, V.A.Sarychev, V.A.Tupikov, L.S.Turnetsky Control and Navigation of Helicopters with Remote Control 85
The direction of development and utilization of monitoring the surface of the Earth by the UAVS of different types is shown in the report.
The analysis of possible useful loading on board has been produced. The least developed direction of building UAVS complexes has been separated. The building conception of typical complexes with miniature distant-operated helicopters, accepted in JSC "RADAR mms".
As the main variant is taken the aerodynamical scheme with one main rotor and one control (steering) rotor at the back. It is peculiar because of servoblades, disposed orthogonal to the blades of the main rotor. The structure and the ways of building of board and land systems with serial elements.
The principals of management the distant-operated helicopter: hand control in visual regime and with the help of the real time television image of the exterior situation, taken from the board of the helicopter. This helps to make decisions on the main stages of the flight, which enlarges the possibilities of UAVS and provides the decisions to some problems, which were earlier solved only by the piloted ones.
The results of the realization of the complexes with UAVS of different weight of 6, 8, 12, 20 and 50 kg, which were demonstrated on MAKS-2005 were shown.

Pages of history

B.Schell 100 Years of Anschutz & Co Gyro Compasses - 100 Years of Innovations in Nautical Technology 95
The story of this navigation instrument - the gyro compass - began with a fantastic idea which became the basis for the origin of the company Anschutz & Co. in Kiel.
The art historian Dr. Hermann Anschiitz-Kampfe astounded the professional circles at that time with the first thought of developing a navigation system for determining the direction of geographic north.
The benefits to navigation at sea quickly convinced even sceptics in the navy and later scientists. A new era began.
Prof. Dr. Ing. Max Schuler and Prof. Dr. Albert Einstein continued their scientific work to help develop this navigation instrument further and their ideas have had a lasting influence on today's gyro compasses.
Gyro technology has developed far beyond its original application range, the navigation at sea and is even today considered a supreme discipline in mechanics.
Even after a period of 100 years, the triumphal success of the gyro compass is still striking, as is proven by the latest systems from Raytheon Marine GmbH, formerly Anschutz & Co.
The referee will present not only the interesting historical development of the gyro compass, but also the many technology steps of this sensor to this date. He will demonstrate that the gyro compass is still a sensor with an outstanding performance, even in our digital world.


A.A.Belash, D.G.Rezinkin XVII scientific and technical conference of young scientists and specialists 111
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Last updated March 29, 2006.